Instrument drive units

ABSTRACT

An integrated circuit includes a nexus and a first, a second, a third, and a fourth circuit board. Each of the first and second circuit boards is coupled to opposing sides of the nexus, and each of the third and fourth circuit boards is coupled to opposing sides of the second circuit board. The integrated circuit is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the nexus are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the nexus are coupled to one another to define a cavity therein.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation Application of U.S. patentapplication Ser. No. 16/920,866, filed on Jul. 6, 2020, which is aContinuation Application of U.S. patent application Ser. No. 16/304,372,filed on Nov. 26, 2018, now U.S. Pat. No. 10,736,219, which is a U.S.National Stage Application filed under 35 U.S.C. § 371(a) ofInternational Patent Application No. PCT/US2017/034394, filed May 25,2017, which claims the benefit of and priority to U.S. ProvisionalPatent Application No. 62/342,003, filed May 26, 2016, the entirecontents of each of which are incorporated by reference herein.

BACKGROUND

Robotic surgical systems have been used in minimally invasive medicalprocedures. Some robotic surgical systems include a console supporting asurgical robotic arm and a surgical instrument, having at least one endeffector (e.g., forceps or a grasping tool), mounted to the robotic arm.The robotic arm provides mechanical power to the surgical instrument forits operation and movement.

Manually-operated surgical instruments often include a handle assemblyfor actuating the functions of the surgical instrument. However, whenusing a robotic surgical system, no handle assembly is typically presentto actuate the functions of the end effector. Accordingly, to use eachunique surgical instrument with a robotic surgical system, an instrumentdrive unit is used to interface with the selected surgical instrument todrive operations of the surgical instrument.

The instrument drive unit includes a number of internal components, suchas a motor pack and corresponding control circuitry. As a result of theinstrument drive unit's complex design, there is a need for space savinginternal components which provide for expeditious manufacturing,assembly, and testing of internal components and overall assemblies, andfacilitation of heat dissipation, while still providing for a robust anddurable assembly.

SUMMARY

In accordance with an aspect of the present disclosure, an integratedcircuit is provided. The integrated circuit includes a nexus and afirst, second, third, and fourth circuit board. Each of the first andsecond circuit boards are electrically and mechanically coupled to thenexus on opposing sides thereof. Each of the third and fourth circuitboards are electrically and mechanically coupled to the first circuitboard on opposing sides thereof. The integrated circuit istransitionable between a first, open configuration, in which the first,second, third and fourth circuit boards and the nexus are substantiallycoplanar, and a second configuration, in which the first, second, thirdand fourth circuit boards and the nexus are coupled to one another todefine a cavity therein.

In an embodiment, the cavity is configured to receive a motor assemblyof a motor pack. It is contemplated that in the second configuration ofthe integrated circuit a longitudinal axis defined by the cavity may betransverse to a plane defined by the nexus. It is further envisionedthat the nexus, the first circuit board, the second circuit board, thethird circuit board, and the fourth circuit board may be printed circuitboards. Further still, at least one of the nexus, the first circuitboard, the second circuit board, the third circuit board, or the fourthcircuit board may define at least one ventilation hole therethrough.

In a further embodiment, at least one of the nexus, the first circuitboard, the second circuit board, the third circuit board, or the fourthcircuit board may include at least one electrical connector configuredto electrically interconnect the nexus, the first circuit board, thesecond circuit board, the third circuit board, or the fourth circuitboard to electrical components of the instrument drive unit. Furtherstill, in an embodiment a proximal end of the first circuit board and aproximal end of the second circuit board may each be mechanically andelectrically coupled with the nexus.

It is further envisioned that a distal end of each of the first circuitboard, the second circuit board, the third circuit board, and the fourthcircuit board may be configured to selectively mechanically andelectrically engage a motor assembly of a motor pack of the instrumentdrive unit. Further, the distal ends of each of the first circuit board,the second circuit board, the third circuit board, and the fourthcircuit board may be configured to selectively mechanically andelectrically engage a distal mounting flange of the motor assembly.

In another embodiment of the present disclosure an instrument drive unitis provided which includes an instrument drive unit holder and aninstrument drive unit. The instrument drive unit holder is configured tobe selectively coupled to a robotic arm. The instrument drive unit isselectively couplable to the instrument drive unit holder. Theinstrument drive unit includes a housing cover selectively engagablewith the instrument drive unit holder and a motor pack. The motor packincludes an integrated circuit and a motor assembly. The integratedcircuit includes a first circuit board and a second circuit board eachof which are electrically and mechanically coupled to opposing sides ofa nexus, and a third circuit board and a fourth circuit board each ofwhich are electrically and mechanically coupled to opposing sides of thefirst circuit board. The motor assembly includes a proximal mountingcap, a constrainer, a distal mounting flange, and at least one motor.The proximal mounting cap is nestable upon the nexus of the integratedcircuit, and the constrainer is nestable upon the proximal mounting cap.

The integrated circuit is transitionable between a first, openconfiguration, in which the first, second, third and fourth circuitboards and the nexus are substantially coplanar, and a secondconfiguration, in which the first, second, third and fourth circuitboards and the nexus are coupled to one another to define a cavitytherein.

In an embodiment, in the second configuration of the integrated circuit,a longitudinal axis defined by the cavity may be transverse to a planedefined by the nexus. In a further embodiment, a distal end of at leastone circuit board may be configured to selectively mechanically andelectrically engage a corresponding elastomeric isolator disposed on thedistal mounting flange of the motor assembly.

In yet another embodiment, a distal end of each of the first circuitboard, the second circuit board, the third circuit board, and the fourthcircuit board may be configured to selectively mechanically andelectrically engage a first, second, third, and fourth elastomericisolator disposed on the distal mounting flange of the motor assembly.

In a further embodiment, a proximal end of the first circuit board and aproximal end of the second circuit board may each be mechanically andelectrically coupled with the nexus. Further, the nexus, the firstcircuit board, the second circuit board, the third circuit board, andthe fourth circuit board may be printed circuit boards. Further still,in an embodiment at least one of the nexus, the first circuit board, thesecond circuit board, the third circuit board, or the fourth circuitboard may define at least one ventilation hole therethrough.

In an embodiment at least one of the nexus, the first circuit board, thesecond circuit board, the third circuit board, or the fourth circuitboard may include at least one electrical connector configured toelectrically interconnect the nexus, the first circuit board, the secondcircuit board, the third circuit board, or the fourth circuit board withelectrical components of the instrument drive unit.

In yet another aspect of the present disclosure, an instrument driveunit is provided and includes a motor assembly, and an integratedcircuit. The integrated circuit includes a nexus and first and secondelongated circuit boards pivotably coupled to the nexus between a firstconfiguration, in which the nexus and the first and second circuitboards are substantially coplanar, and a second configuration, in whichthe nexus and the first and second circuit boards cooperatively assume athree dimensional configuration to define a cavity configured forreceipt of the motor assembly.

In some embodiments, the integrated circuit may further include thirdand fourth elongate circuit boards electrically and mechanically coupledto the second circuit board and disposed in parallel relation with thesecond circuit board. In the first configuration, a proximal end of eachof the third and fourth circuit boards may be unconnected to the nexus,and in the second configuration, the proximal end of each of the thirdand fourth circuit boards may be connected to the nexus.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are described herein withreference to the accompanying drawings, wherein:

FIG. 1 is a schematic illustration of a robotic surgical systemincluding a surgical assembly in accordance with the present disclosure;

FIG. 2 is a front perspective view of a robotic arm of the roboticsurgical assembly of FIG. 1 including an IDU holder;

FIG. 3 is a front perspective view of the IDU holder of the roboticsurgical assembly of FIG. 2 with an instrument drive unit and a surgicalinstrument coupled thereto;

FIG. 4A is a side perspective view of an exemplary embodiment of a motorpack of the instrument drive unit of FIG. 3 with an integrated circuitin a second configuration and separated from the motor assembly;

FIG. 4B is a side perspective view of the motor pack of the instrumentdrive unit of FIG. 4A with the integrated circuit in the secondconfiguration and assembled with the motor assembly;

FIG. 4C is a side perspective view of a further exemplary embodiment ofthe motor pack of the instrument drive unit of FIG. 3 in accordance withthe present disclosure, with the integrated circuit in a secondconfiguration and separated from the motor assembly; and

FIG. 5 is a top view of the integrated circuit of the motor pack of theinstrument drive unit of FIG. 3 with the integrated circuit in a firstconfiguration.

DETAILED DESCRIPTION

As will be described in detail below, embodiments of the presentdisclosure describe a surgical assembly configured to be attached to asurgical robotic arm. The surgical assembly includes a motor packutilized to drive an instrument drive unit for driving the operation ofa surgical instrument, and more specifically an integrated circuit ofthe motor pack having a specific manufacturing and assemblyconfiguration, and methods thereof are described in detail withreference to the drawings, in which like reference numerals designateidentical or corresponding elements in each of the several views. Asused herein the term “distal” refers to that portion of the roboticsurgical system, surgical assembly, or component thereof, that is closerto the patient, while the term “proximal” refers to that portion of therobotic surgical system, surgical assembly, or component thereof, thatis further from the patient.

Referring initially to FIGS. 1 and 2, a surgical system, such as, forexample, a robotic surgical system 1, generally includes a plurality ofsurgical robotic arms 2, 3 having an instrument drive unit (hereinafter,“IDU”) 100 and a surgical instrument, or electromechanical instrument,10 removably attached thereto; a control device 4; and an operatingconsole 5 coupled with control device 4.

Operating console 5 includes a display device 6, which is set up inparticular to display three-dimensional images; and manual input devices7, 8, by means of which a person (not shown), for example a surgeon, isable to telemanipulate robotic arms 2, 3. Each of the robotic arms 2, 3may be composed of a plurality of members, which are connected throughjoints. Robotic arms 2, 3 may be driven by electric drives (not shown)that are connected to control device 4. Control device 4 (e.g., acomputer) is set up to activate the drives, in particular by means of acomputer program, in such a way that robotic arms 2, 3, the IDUs 100,and thus electromechanical instrument 10 execute a desired movementaccording to a movement defined by means of manual input devices 7, 8.Control device 4 may also be set up in such a way that it regulates themovement of robotic arms 2, 3 and/or of the drives.

Robotic surgical system 1 is configured for use on a patient “P” lyingon a surgical table “ST” to be treated in a minimally invasive manner bymeans of a surgical instrument, e.g., electromechanical instrument 10.Robotic surgical system 1 may include any number of robotic arms 2, 3,where the additional robotic arms are likewise connected to controldevice 4 and being telemanipulatable by means of operating console 5. Asurgical instrument, for example, electromechanical surgical instrument10 (including an electromechanical end effector (not shown)), may alsobe attached to the additional robotic arm.

Control device 4 may control a plurality of motors, e.g., motors (Motor1 . . . n), with each motor configured to drive movement of robotic arms2, 3 in a plurality of directions. Further, control device 4 may controla motor pack 122 (FIGS. 3-4C) of IDU 100 to drive various operations ofsurgical instrument 10, and may control a rotation of motor pack 122 ofIDU 100 to ultimately rotate surgical instrument 10 along a longitudinalaxis “X” of IDU 100 (FIG. 3). In embodiments, each motor of motor pack122 can be configured to actuate a drive rod or a lever arm to effectoperation and/or movement of each electromechanical end effector (notshown) of electromechanical instrument 10.

For a detailed description of the construction and operation of arobotic surgical system, reference may be made to U.S. Pat. No.8,828,023, and U.S. Patent Application No. 62/341,701, the entirecontents of each of which is incorporated by reference herein.

With continued reference to FIGS. 1-3, robotic surgical system 1includes a surgical assembly 30, which includes an instrument drive unitholder (hereinafter, “IDU holder”) 102 coupled with or to robotic arm 2,the IDU 100 is couplable to the IDU holder 102, and the surgicalinstrument 10 is couplable to the IDU 100. IDU holder 102 of surgicalassembly 30 holds IDU 100 and surgical instrument 10 and operablycouples IDU 100 to robotic arm 2. IDU holder 102 includes an interfacepanel or carriage 104 and an outer housing portion 108 extendingperpendicularly from an end of carriage 104. Carriage 104 supports orhouses a motor “M,” which receives controls and power from controldevice 4. Carriage 104 is slidably mounted onto a rail 40 of robotic arm2, and may be moved along rail 40 via a motor driven chain or belt (notshown) or the like. IDU 100 is non-rotatably couplable to carriage 104of IDU holder 10, and thus slides along rail 40 of robotic arm 2concomitantly with carriage 104.

Outer housing portion 108 of IDU holder 102 defines a passageway (notshown) therethrough configured to receive a distal end 122 b of motorpack 122 of IDU 100 (FIGS. 4A-C). As such, when IDU 100 is attached toIDU holder 102, IDU 100 is non-rotatably connected to carriage 104, andthe distal end 122 b of motor pack 122 of IDU 100 is rotatably receivedwithin the passageway of outer housing portion 108 of IDU holder 102.

IDU holder 102 further includes control circuitry 109 disposed withincarriage 104. Control circuitry 109 is in communication with motor “M”to control the operation of motor “M.” Motor “M” is configured to beoperably coupled to motor pack 122 of IDU 100 to drive a rotation ofmotor pack 122 about the longitudinal axis “X” of IDU 100. In someembodiments, control circuitry 109 may be disposed within any of thecomponents of surgical assembly 30.

IDU 100 transfers power and actuation forces from its motors to drivenmembers (not shown) of surgical instrument 10 (FIG. 2) to ultimatelydrive movement of components of the end effector (not shown) of surgicalinstrument 10, for example, a movement of a knife blade (not shown)and/or a closing and opening of jaw members (not shown) of the endeffector.

With reference to FIGS. 3-4C, a housing cover 112 of IDU 100 (FIG. 3)may be selectively engaged with carriage 104 of IDU holder 102 so as toshroud, cover and protect the inner components of IDU 100 and carriage104. Housing cover 112 of IDU 100 may have a generally cylindricalconfiguration, but in some embodiments, housing cover 112 may assume avariety of configurations, such as, for example, squared, triangular,elongate, curved, semi-cylindrical or the like. Housing cover 112protects or shields various components of IDU 100 including a motorassembly 200, which transfers power and data to components of IDU 100.

With reference to FIGS. 3-4C, motor pack 122 of IDU 100 includes anexemplary motor assembly 200 and an integrated circuit 300. It isenvisioned that motor pack 122 may include any number of motors 150supported in motor assembly 200. It is further envisioned that motors150 may be arranged in a rectangular formation such that respectivedrive shafts (not shown) thereof are all parallel to one another and allextending in a common direction. The drive shaft of each motor 150 mayoperatively interface with a respective driven shaft of surgicalinstrument 10 to independently actuate the driven shafts of surgicalinstrument 10.

In the exemplary embodiment illustrated herein, motor pack 122 includesfour motors 150 supported in motor assembly 200. Motor assembly 200 mayinclude a distal mounting flange 210 disposed at a distal end 202thereof, and a proximal mounting structure or frame 220 disposed at aproximal end 204 thereof. Proximal mounting structure 220 includes fourstruts 220 a-d spanning between four posts 204 a-d, wherein the proximalmounting structure 220 defines proximal end 204 of motor assembly 200.While four posts 204 a-d are shown and described herein, it iscontemplated that any number of posts may be provided as needed. Also,while posts 204 a-d are arranged and illustrated herein in a rectangularconfiguration, it should be appreciated that any configuration iscontemplated and within the scope of the present disclosure.

Proximal mounting structure or frame 220 and distal mounting flange 210of motor assembly 200 are configured to releasably support integratedcircuit 300. More particularly, motor assembly 200 and integratedcircuit 300 are configured to nest together, such that integratedcircuit 300 is disposed about a portion of motor assembly 200, and motorassembly 200 is received within a cavity 310 defined by integratedcircuit 300, as discussed below. In such a configuration, once motorassembly 200 and integrated circuit 300 are assembled to form motor pack122, motor pack 122 maintains a compactly size.

With reference to FIG. 4C, another exemplary embodiment of motorassembly 201 is illustrated which includes distal mounting flange 210, aproximal mounting cap 250 and a constrainer 260. Proximal mounting cap250 is configured to sit and nest over integrated circuit 300, andincludes four engagement regions 252 a-d configured to correspond withposts 204 a-d, respectively. Constrainer 260 is configured to sit andnest over proximal mounting cap 250 and integrated circuit 300, where atleast one clip feature 262 selectively engages at least one wall 254 ofproximal mounting cap 250. In an embodiment, a screw 264 passed througha respective screw hole 266 a-d of constrainer 260 and a respectiveengagement region 252 a-d, and threadably engages a respective post 204a-d, thus securing constrainer 260 and proximal mounting cap 250 toposts 204 a-d. It should be appreciated that the motor assembles 200,201 operate similarly with respect to integrated circuit 300 and roboticsurgical system 1, where differences and distinctions are noted herein.

Integrated circuit 300 includes a plurality of walls or circuit boards320 a-d and a nexus or hub 330 (FIG. 4A), where each circuit board 320a-d is coupled, either directly or indirectly, to nexus 330. Asillustrated in FIG. 5, nexus 330 is coupled on a first side 331 athereof to a first circuit board 320 a, and coupled on a second side 331b thereof to a second circuit board 320 b. Integrated circuit 300includes a third circuit board 320 c and a fourth circuit board 320 dthat are coupled on opposing sides of second circuit board 320 b. Itshould be appreciated that circuit boards 320 a-d and nexus 330 ofintegrated circuit 300 may be configured in any number of structuralcombinations, such as, for example, first, second, third, and fourthcircuit boards 320 a-d being coupled, side-by-side, where one of first,second, third, or fourth circuit board 320 a-d is further coupled to oneside of the first, second, third, or fourth side 331 a-d of nexus 330.In another exemplary embodiment, first and third circuit boards 320 a,320 c may be coupled to first and third sides 331 a, 331 c of nexus 330,and second and fourth circuit boards 320 b, 320 d may be coupled tosecond and fourth sides 331 b, 331 d of nexus 330. Second circuit board320 b has low electrical noise, whereas third and fourth circuit boards320 c, 320 d have relatively high electrical noise.

It is envisioned that each circuit board 320 a-d and nexus 330 of theintegrated circuit 300 may include a printed circuit board assembly(“PCBA”), respectively, having a rigid structure. Further, circuitboards 320 a-d and nexus 330 of integrated circuit 300 may bemechanically and electrically coupled to one another via at least oneintegral flex circuit 350, such that circuit boards 320 a-d and nexus330 are flexibly coupled therebetween. Use of integral flex circuit 350between circuit boards 320 a-d and nexus 330 enable integrated circuit300 to be manufactured using PCB origami such that integrated circuit300 is transitionable between a variety of geometric configurations. Inan embodiment, it is contemplated that integral flex circuit 350 mayinclude multiple flex circuits, electrical connectors, or ribbon cableswhich interconnect circuit boards 320 a-d and nexus 330.

More particularly, during manufacturing, circuit boards 320 a-d andnexus 330 may flex about integral flex circuit 350, with respect to oneanother, such that integrated circuit 300 is transitionable between afirst, open, generally planar configuration (FIG. 6), and a second,three-dimensional configuration (FIGS. 4A and 4B). It should beappreciated that as integrated circuit 300 transitions between the firstand second configurations, integrated circuit 300 utilizes PCB origamito achieve an advantage configuration, as discussed herein. As anexemplary embodiment, in the second configuration circuit boards 320 a-dform a rectangular structure which defines a cavity 310, where cavity310 may be configured to receive motor assembly 200 therein. It isfurther envisioned that, in the second configuration of the integratedcircuit 300, a longitudinal axis “I” (FIG. 4A) defined by cavity 310 maybe transverse to a plane defined by nexus 330. In some embodiments,integral flex circuit 350 may be pre-formed into a fixed, yet flexibleshape or configured as hinges.

With integrated circuit 300 in the second configuration (FIGS. 4A-4C), adistal end 322 a-d of at least one circuit board 320 a-d (FIG. 5) may beengagable with a respective elastomeric isolator 212 disposed on thedistal mounting flange 210 of motor assembly 200. It should beappreciated that one or more elastomeric isolators 212 may be disposedin any desired radial position about distal mounting flange 210 toaccommodate the distal ends 322 a-d of a given circuit board 320 a-dwhile integrated circuit 300 is in the second configuration. It isfurther envisioned that elastomeric isolators 212 may be configured tointerconnect integrated circuit 300 with a larger electromechanicalassembly, such as, for example, motor assembly 200, inner shell 120, IDU100, robotic arm 2, and/or robotic surgical system 1.

Integrated circuit 300 transfers control signals from control device 4of surgical system 1 to various electric components of IDU 100. Forexample, integrated circuit 300 may be electrically and mechanicallycoupled to various motors, torque sensors, accelerometers, temperaturesensors, pressure sensors, position sensors, visual indicators (e.g.,LEDs), or any other suitable electrical component of IDU 100. Integratedcircuit 300 may include an RFID or the like to identify the type ofsurgical instrument attached to IDU 100. Further, first printed circuitboard 320 a transfers data corresponding to the electrical components ofthe IDU 100 and/or surgical instrument 10 to the second printed circuitboard 320 b via nexus 330. Additionally or alternately, second printedcircuit board 320 b may transfer data corresponding to the electricalcomponents of IDU 100 and/or surgical instrument 100 to first printedcircuit board 320 a via nexus 330. Third and fourth circuit boards 320c, 320 d transfer power to nexus 330 for powering the various electricalcomponents of IDU 100 and/or surgical instrument 10. Accordingly, secondcircuit board 320 b is configured as a microprocessor board and thirdand fourth circuit boards 320 c, 320 d are configured as motor andsensor boards. Nexus 330 is configured to receive and regulate power.First circuit board 320 a ultimately couples to surgical instrument 10to receive data collected by various electrical components of surgicalinstrument 10. It is contemplated that first circuit board 320 a has anisolation barrier that extends across an intermediate portion thereof.

Integrated circuit 300, which incorporates integral flex circuits orribbon cables 350, not only provides for ease of manufacturing and easeof assembly, but further provides for an improved mechanical andelectrical coupling of circuit boards 320 a-d and nexus 330. It shouldbe appreciated that integrated circuit 300, which incorporates integralflex circuit 350, reduces the need to reserve dedicated space forinterconnect solder pin areas for flex ribbon, and their respectiveaccompanying components. As such, the working area of integrated circuit300 is increased and the assembly process is expedited and simplified byreducing the soldering and testing procedure. Further still, utilizationof an integral flex circuit 350 eliminated the need to use multipleconnectors, thus providing an optimal, low-resistance, and discretecommunication and power transmission path between circuit boards 320a-d, nexus 330, and ancillary electrical components coupled thereto.

With continued reference to FIGS. 4A-5, it is further envisioned thatintegrated circuit 300 may include a plurality of vent holes 305extending through a thickness of a respective circuit board 320 a-dand/or nexus 330. Vent holes 305 provide for the ventilation anddissipation of heat generated by integrated circuit 300 and/or motorassembly 200 of motor pack 122. Vent holes 305 provide a passage throughwhich a fluid (e.g., air) may flow through, such that cooling ofintegrated circuit 300 and/or motor assembly 200 may be increased. It isfurther envisioned that vent holes 305 may facilitate and/or maintainthe sterility of the operative field, by permitting the creation of anegative pressure through IDU 100.

Integrated circuit 300 may further include one or more power and/orelectrical connectors “C” disposed on at least one of circuit board 320a-d and/or nexus 330. Connectors “C” may represent any means known inthe art to transmit and/or transfer power and/or data between electricaland/or electromechanical components, such as, for example, wired orwireless connectors, including, for example, Bluetooth, radio frequencyidentification (RFID), Near Field Communication (NFC), ZigBee, etc. Itis envisioned that connectors “C” may be configured to interconnectintegrated circuit 300 with a larger electromechanical assembly, suchas, for example, motor assembly 200, inner shell 120, IDU 100, roboticarm 2, and/or robotic surgical system 1.

With reference to FIGS. 3-5, an exemplary assembly of motor pack 122,and IDU 100, will be briefly described. Integrated circuit 300 may bemanufactured in the first, planar configuration (FIG. 5). Duringassembly of the motor pack 122, the PCB origami of integrated circuit300 facilitates integrated circuit 300 to be folded along integral flexcircuits 350 into the second, three-dimensional configuration, such thatcavity 310 is defined by circuit boards 320 a-d. Motor assembly 200 ofmotor pack 122 is insertable into cavity 310, such that nexus 330 ofintegrated circuit 300 is in near approximation with and/or supported byproximal mounting structure 220, or alternatively proximal mounting cap250 of motor assembly 201 is nested upon nexus 330 and constrainer 260is nested upon proximal mounting cap 250, and distal ends 322 a-d ofcircuit boards 320 a-d of integrated circuit 300 are coupled withelastomeric isolators 212 of distal mounting flange 210. Assembled andcoupled integrated circuit 300 and motor assembly 200, or motor assembly201, make up motor pack 122 of IDU 100. Motor pack 122 may be engagedwith IDU 100, where IDU 100 is engaged with carriage 104 of IDU holder102. Housing cover 112 of IDU 100 may be engaged with carriage 104,enclosing motor pack 122 and IDU 100 as described above, and thus IDU100 is coupled with robotic arm 2.

Persons skilled in the art will understand that the structures andmethods specifically described herein and shown in the accompanyingfigures are non-limiting exemplary embodiments, and that thedescription, disclosure, and figures should be construed merely asexemplary of particular embodiments. It is to be understood, therefore,that the present disclosure is not limited to the precise embodimentsdescribed, and that various other changes and modifications may beeffected by one skilled in the art without departing from the scope orspirit of the disclosure. Additionally, the elements and features shownor described in connection with certain embodiments may be combined withthe elements and features of certain other embodiments without departingfrom the scope of the present disclosure, and that such modificationsand variations are also included within the scope of the presentdisclosure. Accordingly, the subject matter of the present disclosure isnot limited by what has been particularly shown and described.

1-20. (canceled)
 21. An integrated circuit of a robotic surgical system,the integrated circuit comprising: a nexus having a first side and asecond side; a first circuit board electrically and mechanically coupledto the first side of the nexus; and a second circuit board electricallyand mechanically coupled to the second side of the nexus, wherein thefirst and second circuit boards are parallel with one another and extenddistally from the nexus when the integrated circuit is in an assembledconfiguration.
 22. The integrated circuit according to claim 21, whereinthe first and second sides of the nexus are opposite to one another. 23.The integrated circuit of claim 21, wherein the first and second circuitboards and the nexus are coupled to one another to define a cavity whenthe integrated circuit is in the assembled configuration.
 24. Theintegrated circuit of claim 23, wherein the cavity is configured toreceive a motor assembly of a motor pack via a distal openingcollectively defined by a distal end portion of each of the first andsecond circuit boards.
 25. The integrated circuit of claim 23, whereinin the assembled configuration, a longitudinal axis defined by thecavity is transverse to a plane defined by the nexus.
 26. The integratedcircuit of claim 21, wherein the integrated circuit is configured totransition between the assembled configuration and a pre-assembledconfiguration, in which the first and second circuit boards and thenexus are substantially coplanar.
 27. The integrated circuit of claim21, wherein the nexus, the first circuit board, and the second circuitboard are printed circuit boards.
 28. The integrated circuit of claim21, wherein at least one of the nexus, the first circuit board, orsecond circuit board defines at least one ventilation hole therethrough.29. The integrated circuit of claim 21, wherein each of the firstcircuit board and the second circuit board has a proximal end portionmechanically and electrically coupled with the nexus.
 30. The integratedcircuit of claim 29, wherein each of the first circuit board and thesecond circuit board has a distal end portion configured to selectivelymechanically and electrically engage a motor assembly of a motor pack ofan instrument drive unit.
 31. The integrated circuit of claim 30,wherein the distal end portion of each of the first circuit board andthe second circuit board is configured to selectively mechanically andelectrically engage a distal mounting flange of the motor assembly. 32.The integrated circuit of claim 21, wherein in the assembledconfiguration, the first and second circuit boards collectively define acentral longitudinal axis that is transverse to a plane defined by thenexus.
 33. The integrated circuit of claim 21, further comprising: athird circuit board electrically and mechanically coupled to a thirdside of the nexus; and a fourth circuit board electrically andmechanically coupled to a fourth side of the nexus.
 34. An instrumentdrive unit comprising: a housing; and a motor pack configured forreceipt in the housing and including: an integrated circuit including anexus, a first circuit board, and a second circuit board, the first andsecond circuit boards being electrically and mechanically coupled to thenexus on opposite sides of the nexus, wherein the first and secondcircuit boards extend distally from the nexus and collectively define acavity when the integrated circuit is in an assembled configuration; anda motor assembly configured for receipt in the cavity.
 35. Theinstrument drive unit of claim 34, wherein the integrated circuitfurther includes third and fourth circuit boards each of which beingelectrically and mechanically coupled to the second circuit board onopposing sides of the second circuit board.
 36. The instrument driveunit of claim 35, wherein the first, second, third, and fourth circuitboards are parallel with one another and extend distally from the nexuswhen the integrated circuit is in the assembled configuration.
 37. Theinstrument drive unit of claim 34, wherein the cavity is configured toreceive the motor assembly via a distal opening collectively defined bya distal end portion of each of the first and second circuit boards. 38.The instrument drive unit of claim 34, wherein the integrated circuit isconfigured to transition between the assembled configuration and apre-assembled configuration, in which the first and second circuitboards and the nexus are substantially coplanar.
 39. The instrumentdrive unit of claim 34, wherein the motor assembly includes at least onemotor received in the integrated circuit, and a distal mounting flange,the first and second circuit boards each having a distal end portionconfigured to mechanically and electrically engage the distal mountingflange.
 40. The instrument drive unit of claim 34, wherein at least oneof the nexus, the first circuit board, or the second circuit boardincludes at least one electrical connector configured to electricallyinterconnect the nexus, the first circuit board, or the second circuitboard with at least one electrical component of the instrument driveunit.